Position and orientation correction for pipe profiling robots, by Andrew John Dettmer - Stranger than SF

Dissertation Review I always say, if you discover that someone you know has written a thesis or a dissertation, you should read it. Well, I read it. The math was beyond me. I have a Bachelor's degree in math (technically, Computer Science and Mathematics) but either I never learned this math, or I forgot it all because I haven't used it since graduation. 800,000 miles of pipes I learned that there…